Forming apparatus

ABSTRACT

A forming apparatus includes a movable frame, a first arm that is supported by the movable frame to be capable of oscillating, a second arm that is supported by the first arm to be capable of oscillating, a holding unit that is capable of holding an object to be formed supported by the second arm, a first oscillating mechanism that applies an oscillating operation to the first arm, a second oscillating mechanism that applies an oscillating operation to the second arm, and a moving mechanism that applies a moving operation to the movable frame in at least one direction.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a bypass continuation application of International PCT Application No. PCT/JP2021/041662, filed on Nov. 12, 2021, which claims priority to Japanese Patent Application No. 2020-198302, filed on Nov. 30, 2020, which are incorporated by reference herein in their entirety.

BACKGROUND Technical Field

A certain embodiment of the present invention relates to a forming apparatus.

Description of Related Art

A relay device that receives a billet as an object to be formed from a supply device and disposes the billet at an initial position of a transfer feeder is installed near dies in a press apparatus as a forming apparatus.

Meanwhile, since a periphery of the dies is in a harsh environment where pollution is likely to occur due to the supply of a release agent used for the dies and the like, an arm mechanism of which the number of joints is reduced and which causes an arm to pivot with two joints is employed as a relay device in the related art to suppress the occurrence of malfunctions or failures.

SUMMARY

A forming apparatus according to an embodiment of the present invention includes a movable frame, a first arm that is supported by the movable frame to be capable of oscillating, a second arm that is supported by the first arm to be capable of oscillating, a holding unit that is capable of holding an object to be formed supported by the second arm, a first oscillating mechanism that applies an oscillating operation to the first arm, a second oscillating mechanism that applies an oscillating operation to the second arm, and a moving mechanism that applies a moving operation to the movable frame in at least one direction.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a front view of a press apparatus according to an embodiment of the present invention.

FIG. 2 is a right side view of a relay device of which a moving mechanism is not shown.

FIG. 3 is a cross-sectional view of a second arm.

FIG. 4 is a cross-sectional view taken along line U-U of FIG. 1 .

FIG. 5 is a cross-sectional view taken along line V-V of FIG. 1 .

FIG. 6 is a cross-sectional view taken along line W-W of FIG. 1 .

FIG. 7 is a block diagram showing a schematic control configuration of the press apparatus.

DETAILED DESCRIPTION

However, since the number of joints of the relay device is small in the forming apparatus in the related art, restrictions on an operation are increased. In the cases of some shapes and dimensions of an object to be formed, a transport failure of a billet may occur or it is necessary to manually adjust the attachment position of a receiving table for a billet, which is the initial position of the transfer feeder.

It is desirable to provide a forming apparatus that stably transports an object to be formed.

An embodiment of the present invention will be described in detail below with reference to the drawings.

Configuration of Forming Apparatus

FIG. 1 is a front view of a press apparatus 1 as a forming apparatus according to the present embodiment. As shown in FIG. 1 , a left-right direction in a plane of paper corresponds to a left-right direction of the press apparatus 1, an up-down direction in the plane of paper corresponds to an up-down direction of the apparatus 1, and a direction perpendicular to the plane of paper corresponds to a front-rear direction of the apparatus 1. A right side in the plane of paper is defined as a front and a front side in the plane of paper is defined as a front.

As shown in FIG. 1 , the press apparatus 1 is a forging press apparatus that performs forging, and includes an apparatus body 100, a supply device 30 for a billet B as an object to be formed, a transfer feeder 40, a relay device 50, and a control device 90.

The apparatus body 100 includes a bed 23, a plurality of uprights 22, a bolster 24, a slide 18, a receiving table 13 for a billet B, and a drive unit (not shown).

The bed 23 and the plurality of uprights 22 form a frame unit of the press apparatus 1.

The bolster 24 is fixed on the bed 23, and a plurality of lower dies 12 are fixed to an upper portion of the bolster 24.

The slide 18 is supported by guides (not shown) provided on the uprights 22 to be capable of reciprocating in a state where a stroke direction is the up-down direction. Upper dies 11 of which the number is equal to the number of the lower dies 12 are fixed to a lower portion of the slide 18. Since the plurality of upper dies 11 as dies and the plurality of lower dies 12 as dies correspond to each other, make pairs, and are arranged in the left-right direction, the dies making a pair face each other in the up-down direction. In a case where the slide 18 is moved up, the upper die 11 and the lower die 12 are separated from each other. In a case where the slide 18 is moved down, the upper die 11 and the lower die 12 are combined with each other and an object to be formed is forged between the upper die 11 and the lower die 12. The upper dies 11 and the lower dies 12 are arranged such that forming performed by dies closer to the right is closer to a finished product.

The drive unit is adapted to cause the slide 18 to advance and retreat, and includes a motor as a drive source, a flywheel, a clutch brake, a speed reducer, a crank mechanism, and the like. Further, the rotation of the motor is converted into vertical movement by the crank mechanism and the vertical movement is applied to the slide 18.

In a case where the motor as the drive source is a servo motor, the flywheel and the clutch brake can be unnecessary.

The receiving table 13 is installed at an initial position of the transfer feeder 40, that is, at a lower left portion of an inlet of a conduction portion 14, in which the plurality of upper dies 11 and the plurality of lower dies 12 are arranged, of the frame unit of the press apparatus 1.

The receiving table 13 is a cup-shaped container into which a billet B can be inserted from above. A structure in which the height of the receiving table 13 and the disposition of the receiving table 13 in the front-rear direction and the left-right direction can be manually adjusted may be provided.

The transfer feeder 40 transports a billet B onto the lower die 12, which is positioned on the leftmost side (upstream side), from the receiving table 13 corresponding to the initial position of a billet B, and transports the billet B (an object to be formed that is being subjected to forming) positioned on each lower die 12 onto the right (downstream) lower die 12 next to each lower die 12.

The transfer feeder 40 includes a pair of feed rods 41 disposed in the left-right direction, and each feed rod 41 is provided with a plurality of gripping claws (not shown).

Further, the respective gripping claws extend from the pair of feed rods 41 to face each other. Furthermore, an interval between the respective gripping claws in the left-right direction is equal to an interval between the plurality of lower dies 12. Moreover, each feed rod 41 includes the gripping claws of which the number is larger than the number of the lower dies 12 by one. For example, in a case where the number of lower dies 12 is five, the number of gripping claws is six.

The transfer feeder 40 causes the pair of feed rods 41 to operate in an order of (1) clamping using approach→(2) lift (moving up)→(3) advance (moving forward)→(4) down (moving down)→(5) unclamping (release)→(6) return (retreat) to perform an operation for transporting a billet B onto the lower die 12 from the receiving table 13 and an operation for transporting an object to be formed positioned on each lower die 12 onto the right (downstream) lower die 12 next to each lower die 12.

The supply device 30 for a billet B includes a slope 31 that is inclined diagonally downward to the right, and supplies billets B to a delivery position 32 that is set at a right end of the slope 31 one by one.

Sliding grooves for a billet B are formed on the slope 31. For example, in a case where hot forging is to be performed, a billet B, which is heated up to a predetermined temperature by a heating device in advance, is supplied to an upper end of the slope 31. Further, in a case where cold forging is to be performed, a billet B, which has a room temperature without being heated, is supplied to the upper end of the slope 31.

In either case, the billet B slides to the delivery position 32.

A gate mechanism 33 is provided in front of the delivery position 32, and restricts the passage of billets B so that only one billet B stays at the delivery position 32.

A stopper (not shown) for inhibiting the sliding of a billet B is provided at the delivery position 32, and the billet B stopped by the stopper can be taken out to the right by the relay device 50.

Since an end portion of the slope 31 closer to the delivery position 32 can oscillate about a fulcrum 34, the delivery position 32 can be caused to oscillate down from a state shown in FIG. 1 . This is to cause the stopper, which is provided at the delivery position 32, to retract downward such that the stopper does not interfere in a case where a gripping tool 54 (to be described later) of the relay device 50 having received a billet B oscillates to the right at the delivery position 32.

Relay Device

FIG. 2 is a right side view of the relay device 50 of which a moving mechanism to be described later is not shown and which is viewed from the right.

The relay device 50 relays and transports a billet B onto the receiving table 13 corresponding to the initial position of the transfer feeder 40 from the supply device 30.

As shown in FIGS. 1 and 2 , the relay device 50 is attached to an upper wall surface of the inlet that is a left end portion of the conduction portion 14 in which the plurality of upper dies 11 and the plurality of lower dies 12 are arranged in the frame unit of the press apparatus 1.

The relay device 50 includes a movable frame 51, a first arm 52 that is supported by the movable frame 51 to be capable of oscillating about a first joint shaft 521, a second arm 53 that is supported by an oscillating end portion of the first arm 52 to be capable of oscillating about a second joint shaft 531, a gripping tool 54 that serves as a holding unit for a billet B and is supported by the second arm 53 to be rotatable about an axis perpendicular to the second joint shaft 531, a first oscillating mechanism 55 that applies an oscillating operation to the first arm 52, a second oscillating mechanism 56 that applies an oscillating operation to the second arm 53, a rotating mechanism 57 that applies a rotational operation to the gripping tool 54, a gripping drive unit 61 that applies a gripping operation to the gripping tool 54, and a moving mechanism that applies a moving operation to the movable frame 51. The moving mechanism includes first to third moving units 58, 59, and 60.

The movable frame 51 is attached to the upper wall surface of the inlet of the conduction portion 14 via the moving mechanism, and is supported to be capable of being moved in the up-down direction, the left-right direction, and the front-rear direction by the first to third moving units 58, 59, and 60 of the moving mechanism.

The movable frame 51 includes a support plate 511 that is supported by the moving mechanism, and a hollow body portion 512 that extends downward from the support plate 511. A base end portion of the first arm 52 is supported at an extending end portion (lower end portion) of the body portion 512 by the first joint shaft 521 parallel to the front-rear direction (horizontal direction) to be capable of oscillating.

The oscillating end portion of the first arm 52 oscillates mainly in the left-right direction about the first joint shaft 521. Further, the first arm 52 is also hollow like the body portion 512 of the movable frame 51.

The second arm 53 is supported at an extending end portion (lower end portion) of the first arm 52 by the second joint shaft 531 parallel to the front-rear direction (horizontal direction) to be capable of oscillating.

A base end portion (upper end portion) of the second arm 53 is supported by the second joint shaft 531 to be capable of oscillating, and an oscillating end portion (lower end portion) of the second arm 53 oscillates mainly in the left-right direction. Further, the second arm 53 is also hollow like the first arm 52, and some components of the gripping drive unit 61 are stored in the second arm 53.

As shown in FIG. 2 , the first oscillating mechanism 55 includes a first oscillating motor 551, a speed reducer 552, a main driving gear 553, a transmission gear 554, and a driven gear 555.

The first oscillating motor 551 is fixedly mounted on the outside of a rear surface of the body portion 512 of the movable frame 51 in a state where an output shaft of the first oscillating motor 551 is directed in the front-rear direction. The output shaft of the first oscillating motor 551 is connected to the speed reducer 552 disposed in the body portion 512.

The speed reducer 552 is fixedly mounted on the inside of the rear surface of the body portion 512 of the movable frame 51 in a state where an input shaft and an output shaft of the speed reducer 552 are parallel to the front-rear direction. Further, the main driving gear 553 formed of a spur gear is attached to the output shaft of the speed reducer 552.

Decelerating rotation about an axis parallel to the front-rear direction is applied to the main driving gear 553 by the speed reducer 552. Further, the main driving gear 553 meshes with the transmission gear 554 that is disposed below the main driving gear 553.

The transmission gear 554 is formed of a spur gear, and is rotatably supported by a spindle 556 that is fixedly mounted inside the body portion 512 and is parallel to the front-rear direction. Further, the transmission gear 554 meshes with the driven gear 555 that is disposed below the transmission gear 554.

The driven gear 555 is formed of a spur gear and is rotatably supported by the first joint shaft 521. Further, the driven gear 555 is integrally connected to the base end portion of the first arm 52.

According to the above-mentioned configuration, the main driving gear 553 of the first oscillating mechanism 55 is decelerated and rotated via the speed reducer 552 by the drive of the first oscillating motor 551. In addition, a rotation force is transmitted to the driven gear 555 from the main driving gear 553 via the transmission gear 554, and the oscillating end portion (lower end portion) of the first arm 52 oscillates together with the driven gear 555.

As shown in FIG. 2 , the second oscillating mechanism 56 includes a second oscillating motor 561, a speed reducer 562, a main driving gear 563, first to third transmission gears 564 to 566, and a driven gear 567.

The second oscillating motor 561 is fixedly mounted on the outside of a front surface of the body portion 512 of the movable frame 51 in a state where an output shaft of the second oscillating motor 561 is directed in the front-rear direction. The output shaft of the second oscillating motor 561 is connected to the speed reducer 562 disposed in the body portion 512.

The speed reducer 562 is fixedly mounted on the inside of the front surface of the body portion 512 of the movable frame 51 in a state where an input shaft and an output shaft of the speed reducer 562 are parallel to the front-rear direction. Further, the main driving gear 563 formed of a spur gear is attached to the output shaft of the speed reducer 562.

Decelerating rotation about an axis parallel to the front-rear direction is applied to the main driving gear 563 by the speed reducer 562. Further, the main driving gear 563 meshes with the first transmission gear 564 that is disposed below the main driving gear 563.

The first transmission gear 564 is formed of a spur gear, and is rotatably supported by the spindle 556 in the body portion 512. Further, the first transmission gear 564 meshes with the second transmission gear 565 that is disposed below the first transmission gear 564.

The second transmission gear 565 is formed of a spur gear, and is rotatably supported by the first joint shaft 521 in the body portion 512. The second transmission gear 565 meshes with the third transmission gear 566 that is disposed at an intermediate position of the first arm 52.

The third transmission gear 566 is formed of a spur gear. The third transmission gear 566 is rotatably supported by a spindle 568, which is provided parallel to the front-rear direction, at an intermediate position of the first arm 52 in a longitudinal direction on the inside of the front side wall of the first arm 52. Further, the third transmission gear 566 meshes with the driven gear 567 that is disposed at the oscillating end portion of the first arm 52.

The driven gear 567 is formed of a spur gear, and is rotatably supported by the second joint shaft 531. Further, the driven gear 567 is integrally connected to a base end portion of the second arm 53.

According to the above-mentioned configuration, the main driving gear 563 of the second oscillating mechanism 56 is decelerated and rotated via the speed reducer 562 by the drive of the second oscillating motor 561. In addition, a rotation force is transmitted to the driven gear 567 from the main driving gear 563 via the first to third transmission gears 564 to 566, and the oscillating end portion (lower end portion) of the second arm 53 oscillates together with the driven gear 567.

FIG. 3 is a cross-sectional view of the second arm 53. FIG. 3 shows a posture in which the longitudinal direction of the second arm 53 is parallel to the up-down direction, and shows a state where the gripping tool 54 is positioned at an initial position (an orientation shown in FIGS. 1 to 3 ) set by the rotating mechanism 57. In the description based on FIG. 3 , the position or the direction of each part will be described on the premise that the second arm 53, the gripping tool 54, the rotating mechanism 57, and the gripping drive unit 61 are in the posture shown in FIG. 3 .

As shown in FIG. 3 , the gripping tool 54 is provided at the oscillating end portion of the second arm 53 to extend outward in a radial direction of oscillation.

The gripping tool 54 includes a cylindrical body part 545 that is provided at the oscillating end portion of the second arm 53 to be rotatable concentrically with the second arm 53.

A pair of elbow-shaped gripping arms 543 and 544, which individually holds a pair of gripping claws 541 and 542, is mounted on an oscillating end portion side of the body part 545.

One end portions of the gripping arms 543 and 544 are pivotally supported at an oscillating end portion of the body part 545 by the same pivoting spindle parallel to the left-right direction. Further, the gripping claws 541 and 542 are fixedly mounted on pivoting end portions of the gripping arms 543 and 544 in a state where the gripping claws 541 and 542 face each other. Since the pair of gripping arms 543 and 544 pivots in directions opposite to each other, the pair of gripping claws 541 and 542 can be moved to approach or to be separated from each other.

The pair of gripping claws 541 and 542 includes recessed portions facing each other. As the pair of gripping arms 543 and 544 are moved in a gripping direction (approaching direction), a billet B can be gripped by the recessed portions of the respective gripping claws 541 and 542. Both the recessed portions of the gripping claws 541 and 542 are uniformly recessed in the left-right direction at the initial position set by the rotating mechanism 57. Accordingly, in this state, the gripping tool 54 is suitable to grip a billet B of which a longitudinal direction is parallel to the left-right direction.

As shown in FIG. 3 , the gripping drive unit 61 includes an air cylinder 611 for grip that is disposed concentrically in the cylindrical second arm 53, a piston 612 that moves forward in the longitudinal direction of the second arm 53, a piston rod 613 that is positioned at the center of the second arm 53, link members 614 and 615 that connect the piston rod 613 to the pair of gripping arms 543 and 544, and an air cylinder on-off valve 616 for grip (see FIG. 7 ).

The air cylinder 611 for grip is supported inside the second arm 53 to be rotatable about an axis parallel to the longitudinal direction of the second arm 53.

The piston 612 is stored in the air cylinder 611 for grip, and is moved to one side and the other side in the longitudinal direction of the second arm 53 by the pressure of air that is supplied by the air cylinder on-off valve 616 for grip.

The piston rod 613 is fixed in a state where the piston rod 613 penetrates the center of the piston 612, and an end portion of the piston rod 613 extends up to the inside of the body part 545 of the gripping tool 54. Further, the end portion of the piston rod 613 is connected to an end portion of each of the link members 614 and 615. The end portions of these link members 614 and 615 are connected to the end portion of the piston rod 613 to be pivotable about an axis parallel to the left-right direction.

Further, the other end portions of the link members 614 and 615 are connected to intermediate portions (for example, elbow-shaped corners) of the pair of gripping arms 543 and 544, respectively. Even in this case, the other end portions of the link members 614 and 615 are connected to the gripping arms 543 and 544 to be pivotable about axes parallel to the left-right direction, respectively.

According to the above-mentioned configuration of the gripping drive unit 61, in a case where the piston 612 is moved down in the air cylinder 611 for grip, the piston rod 613 is also moved down, the pair of gripping arms 543 and 544 pivots to be pushed down via the link members 614 and 615, and the pair of gripping claws 541 and 542 performs gripping.

Further, in a case where the piston 612 is moved up in the air cylinder 611 for grip, the piston rod 613 is also moved up, the pair of gripping arms 543 and 544 pivots to be pulled up via the link members 614 and 615, and the pair of gripping claws 541 and 542 is separated from each other and releases.

As shown in FIG. 3 , the rotating mechanism 57 includes a gear 571 that is provided on an outer periphery of an upper end portion of the air cylinder 611 for grip, a rack member 572 that meshes with the gear 571, an air cylinder 573 for rotation that causes the rack member 572 to advance and retreat in the longitudinal direction of the rack member 572, and an air cylinder on-off valve 574 for rotation (see FIG. 7 ).

The gear 571 is formed concentrically with the second arm 53 and the air cylinder 611 for grip.

The rack member 572 is supported at the upper end portion of the second arm 53 to be slidable in the front-rear direction.

A piston rod (not shown) of the air cylinder 573 for rotation is directed in the front-rear direction, and a tip end portion of the piston rod is connected to the rack member 572.

According to the above-mentioned configuration of the gripping drive unit 61, in a case where a piston of the air cylinder 573 for rotation is moved in an advancing direction, the rack member 572 slides in the same direction and rotates the air cylinder 611 for grip via the gear 571. Since the air cylinder 611 for grip is connected to the body part 545 of the gripping tool 54, the entire gripping tool 54 is rotated together with the air cylinder 611 for grip.

The stroke of the piston of the air cylinder 573 for rotation is set to a length that allows the air cylinder 611 for grip to rotate by an angle of exactly 90°. Accordingly, for example, an orientation of the gripping tool 54, which is positioned at the initial position shown in FIG. 3 , can be changed to an orientation where the gripping tool 54 is rotated about an axis parallel to the longitudinal direction of the second arm 53 by an angle of 90° by the drive of the air cylinder 573 for rotation.

A configuration of a motor of which a rotation angle of an output shaft can be arbitrarily controlled and a spur gear may be employed instead of the configuration of the air cylinder 573 for rotation and the rack member 572. In this case, the gripping tool 54 can be rotated not only between two positions of an angle of 90° but also by an arbitrary angle.

FIG. 4 is a cross-sectional view taken along line U-U of FIG. 1 , and shows a state where the first moving unit 58 of the moving mechanism is viewed from the left.

The first moving unit 58 includes a base body 581 that is supported by the second moving unit 59, guide rails 582 that are fixedly supported at both front and rear end portions of a left surface of the base body 581, slide blocks 583 that are provided to be slidable along each guide rail 582, a first moving motor 584 that is attached to the left surface of the base body 581, a ball screw shaft 585 that is connected to an output shaft of the first moving motor 584, a ball nut 586 that is screwed to the ball screw shaft 585, and a bearing 587 by which the ball screw shaft 585 is rotatably supported.

The base body 581 is a flat plate parallel to the up-down direction and the front-rear direction. The base body 581 is supported by the second moving unit 59.

Each guide rail 582 and the ball screw shaft 585 are supported by the left surface of the base body 581 to be directed in the up-down direction.

Each slide block 583 and the ball nut 586 are attached to a right surface of the support plate 511 of the movable frame 51.

The first moving motor 584 can arbitrarily control a rotation angle of an output shaft thereof.

According to the above-mentioned configuration of the first moving unit 58, in a case where the first moving motor 584 is driven, the ball nut 586 is moved in the up-down direction by the rotation of the ball screw shaft 585. Accordingly, the position of the movable frame 51 can be adjusted by an arbitrary amount of movement in the up-down direction.

FIG. 5 is a cross-sectional view taken along line V-V of FIG. 1 , and shows a state where the second moving unit 59 of the moving mechanism is viewed from the left.

The second moving unit 59 includes a base body 591 that is supported by the third moving unit 60, guide rails 592 that are fixedly supported at both upper and lower end portions of a left surface of the base body 591, slide blocks 593 that are provided to be slidable along each guide rail 592, a second moving motor 594 that is attached to the left surface of the base body 591, a ball screw shaft 595 that is connected to an output shaft of the second moving motor 594, a ball nut 596 that is screwed to the ball screw shaft 595, and a bearing 597 by which the ball screw shaft 595 is rotatably supported.

The base body 591 is a structure in which a vertical plate parallel to the up-down direction and the front-rear direction and a horizontal plate parallel to the front-rear direction and the left-right direction are connected to each other. An upper surface of the horizontal plate is supported by the third moving unit 60.

Each guide rail 592 and the ball screw shaft 595 are supported by the left surface of the vertical plate of the base body 591 to be directed in the front-rear direction.

Each slide block 593 and the ball nut 596 are attached to a right surface of the base body 581 of the first moving unit 58.

The second moving motor 594 can arbitrarily control a rotation angle of an output shaft thereof.

According to the above-mentioned configuration of the second moving unit 59, in a case where the second moving motor 594 is driven, the ball nut 596 is moved in the front-rear direction by the rotation of the ball screw shaft 595. Accordingly, the position of the movable frame 51 can be adjusted by an arbitrary amount of movement in the front-rear direction via the first moving unit 58.

FIG. 6 is a cross-sectional view taken along line W-W of FIG. 1 , and shows a state where the third moving unit 60 of the moving mechanism is viewed from above.

The third moving unit 60 includes a base body 601 that is supported by the frame unit of the press apparatus 1, guide rails 602 that are fixedly supported at both front and rear end portions of a lower surface of the base body 601, slide blocks 603 that are provided to be slidable along each guide rail 602, a third moving motor 604 that is attached to the lower surface of the base body 601, a ball screw shaft 605 that is connected to an output shaft of the third moving motor 604, a ball nut 606 that is screwed to the ball screw shaft 605, and a bearing 607 by which the ball screw shaft 605 is rotatably supported.

The base body 601 is a structure in which a vertical plate parallel to the up-down direction and the front-rear direction and a horizontal plate parallel to the front-rear direction and the left-right direction are connected to each other. A right surface of the vertical plate is fixedly attached to the upper wall surface of the inlet of the conduction portion 14 of the frame unit of the press apparatus 1.

The base body 601 supports the entire relay device 50.

Each guide rail 602 and the ball screw shaft 605 are supported by a lower surface of the horizontal plate of the base body 601 to be directed in the left-right direction.

Each slide block 603 and the ball nut 606 are attached to an upper surface of the horizontal plate of the base body 591 of the second moving unit 59.

The third moving motor 604 can arbitrarily control a rotation angle of an output shaft thereof.

According to the above-mentioned configuration of the third moving unit 60, in a case where the third moving motor 604 is driven, the ball nut 606 is moved in the left-right direction by the rotation of the ball screw shaft 605. Accordingly, the position of the movable frame 51 can be adjusted by an arbitrary amount of movement in the left-right direction via the first moving unit 58 and the second moving unit 59.

Schematic Control Configuration of Press Apparatus

FIG. 7 is a block diagram showing a schematic control configuration of the press apparatus 1.

As shown in FIG. 7 , the press apparatus 1 includes the control device 90 that controls the operation of the entire apparatus.

The control device 90 includes an input unit 91, a display unit 94, a storage unit 92, and a control unit 93.

The input unit 91 is an input interface for a user of the press apparatus 1, such as a keyboard and a mouse. Settings related to an operation control of the apparatus body 100 and the like can be made from the input unit 91.

The display unit 94 includes a display, and displays various types of information on the display.

The storage unit 92 is a memory that stores a control program 95 for performing an operation control of the apparatus body 100 and setting data and functions as a work area. The control program 95 is executed by the control unit 93.

The control unit 93 controls each part of the press apparatus 1 on the basis of the control program 95.

In the present embodiment, an operation control performed on the relay device 50 by the control unit 93 will be mainly described.

The control unit 93 controls the first oscillating motor 551, the second oscillating motor 561, the air cylinder on-off valve 616 for grip, the air cylinder on-off valve 574 for rotation, the first moving motor 584, the second moving motor 594, and the third moving motor 604 of the above-mentioned relay device 50.

The basic operation of the relay device 50 based on the operation control of the control unit 93 will be described with reference to FIG. 1 .

(1) The first arm 52 is caused to oscillate in a clockwise direction (leftward) by the drive of the first oscillating motor 551 to move the gripping tool 54 to the delivery position 32 of the supply device 30.

As described above, the end portion of the slope 31 of the supply device 30 closer to the delivery position 32 can oscillate up and down about the fulcrum 34. Accordingly, the end portion of the slope 31 closer to the delivery position 32 stands by in a state where the end portion of the slope 31 closer to the delivery position 32 retracts downward in advance (a two-dot chain line of FIG. 1 ), and is moved up to make a state where a billet B can be delivered (a solid line of FIG. 1 ) after the gripping tool 54 of the first arm 52 is moved toward the delivery position 32.

(2) The air cylinder 611 for grip is operated by the control of the air cylinder on-off valve 616 for grip to cause the pair of gripping arms 543 and 544 of the gripping tool 54 to pivot and to cause the pair of gripping claws 541 and 542 to grip the billet B present at the delivery position.

(3) The end portion of the slope 31 of the supply device 30 closer to the delivery position 32 is caused to oscillate down about the fulcrum 34 and to retract downward not to interfere with the first arm 52 (a two-dot chain line of FIG. 1 ).

(4) The first arm 52 is caused to oscillate in a counterclockwise direction (rightward) by the drive of the first oscillating motor 551 to move the gripping tool 54 up from the receiving table 13. Further, the second arm 53 is caused to oscillate by the drive of the second oscillating motor 561 as necessary such as the billet B is directed in the up-down direction, to adjust the orientation of the billet B.

Furthermore, the air cylinder 573 for rotation is operated by the control of the air cylinder on-off valve 574 for rotation as necessary to rotate the gripping tool 54 about an axis parallel to the longitudinal direction of the second arm 53.

(5) The air cylinder 611 for grip is operated by the control of the air cylinder on-off valve 616 for grip to cause the pair of gripping arms 543 and 544 of the gripping tool 54 to pivot, to release the billet B gripped by the pair of the gripping claws 541 and 542, and to drop the billet B onto the receiving table 13 provided below.

Accordingly, the billet B slides into the receiving table 13 and is set at the initial position of the transfer feeder 40.

(6) After that, the transfer feeder 40 transports the billet B onto the lower die 12 and the slide 18 of the apparatus body 100 is moved down, so that press forming is performed.

In a case where the gripping tool 54 cannot be appropriately positioned at the delivery position 32 of the supply device 30 by only the oscillating operations of the first and second arms 52 and 53 in (1) described above, any or all of the first to third moving motors 584 to 604 of the first to third moving units 58 to 60 are driven to adjust the position of the gripping tool 54.

The first to third moving units 58 to 60 may be driven at any of before the start of an oscillating operation of the first or second arm 52 or 53, during the oscillating operation thereof, and after the oscillating operation thereof.

Further, in a case where it is appropriate that the first to third moving units 58 to 60 are driven at any of before the start of the oscillating operation of the first or second arm 52 or 53, during the oscillating operation thereof, and after the oscillating operation thereof, the first to third moving units 58 to 60 may be driven at that timing.

In (3) described above, instead of an retracting operation of the end portion of the slope 31 of the supply device 30 closer to the delivery position 32 or in parallel with the retracting operation of the end portion of the slope 31 of the supply device 30 closer to the delivery position 32, any or all of the first to third moving units 58 to 60 may be driven to perform an operation of picking up the gripped billet B.

In a case where the first to third moving units 58 to 60 are driven in parallel with the retracting operation of the end portion of the slope 31 of the supply device 30 closer to the delivery position 32, the first to third moving units 58 to 60 may be driven at any of before the start of an retracting operation of the end portion of the slope 31 of the supply device 30 closer to the delivery position 32, during the retracting operation thereof, and after the retracting operation thereof.

Further, in a case where it is appropriate that the first to third moving units 58 to 60 are driven at any of before the start of the retracting operation of the end portion of the slope 31 of the supply device 30 closer to the delivery position 32, during the retracting operation thereof, and after the retracting operation thereof, the first to third moving units 58 to 60 may be driven at that timing.

In a case where the gripping tool 54 cannot be appropriately positioned above the receiving table 13 by only the oscillating operations of the first and second arms 52 and 53 in (4) described above, any or all of the first to third moving motors 584 to 604 of the first to third moving units 58 to 60 are driven to adjust the position of the gripping tool 54.

The first to third moving units 58 to 60 may be driven at any of before the start of an oscillating operation of the first or second arm 52 or 53, during the oscillating operation thereof, and after the oscillating operation thereof.

Further, in a case where it is appropriate that the first to third moving units 58 to 60 are driven at any of before the start of the oscillating operation of the first or second arm 52 or 53, during the oscillating operation thereof, and after the oscillating operation thereof, the first to third moving units 58 to 60 may be driven at that timing.

In a case where the adjustment of a position or a posture that is required to appropriately perform each operation is required with a change in the dimensions or shape of a billet B in (1), (3), and (4) described above, any or all of the first to third moving motors 584 to 604 of the first to third moving units 58 to 60 are driven to adjust the position or the posture.

The first to third moving units 58 to 60 may be driven at any of before the start of each basic operation, during each basic operation, and after each basic operation.

Further, in a case where it is appropriate that the first to third moving units 58 to 60 are driven at any of before the start of each basic operation, during each basic operation, and after each basic operation, the first to third moving units 58 to 60 are driven at that timing.

Technical Effects of Present Embodiment

Since the relay device 50 of the press apparatus 1 includes the moving mechanism that applies a moving operation to the movable frame 51 as described above, restrictions on a gripping position for the billet B, a position where a grip is released, and a moving locus are reduced. Accordingly, an operation for moving or transporting the billet B can be more appropriately performed.

Therefore, even in the cases of billets B having a wide variety of shapes and dimensions, the billets B can be appropriately and stably transported to the receiving table 13.

In a case where billets B having a wide variety of shapes and dimensions are transported, work for manually adjusting the position of the receiving table 13 is not required. Accordingly, a work load can be reduced.

Further, since the moving mechanism of the relay device 50 is adapted to apply a moving operation to the movable frame 51, the moving mechanism can be disposed on an attachment position side of the relay device 50. As a result, a disposition in which the moving mechanism is separated from the gripping tool 54 of the relay device 50 is realized. For this reason, since the moving mechanism is not disposed in a harsh environment where pollution occurs due to a release agent and the like around the dies, it is possible to reduce malfunctions or failures of the moving mechanism and to more stably transport a billet B.

Particularly, since the movable frame 51 is disposed above the gripping tool 54, the moving mechanism can be disposed further away from the harsh environment around the dies and an influence of pollution caused by a release agent and the like can be reduced. As a result, it is possible to more stably transport a billet B.

“The movable frame 51 is disposed above the gripping tool 54” means that the movable frame 51 is disposed above an upper end portion of the gripping tool 54 in a case where an upper end portion of the movable frame 51 moves the gripping tool 54 up to the uppermost portion of a movable range in a state where the moving mechanism is not operated.

Further, in a case where the relay device 50 is mounted on the press apparatus 1 for performing press forming, a billet B can be stably transported at a position around the dies where a harsh environment where pollution is likely to occur occurs.

Since the moving mechanism includes the first moving unit 58 for moving the movable frame 51 in the up-down direction, the second moving unit 59 for moving the movable frame 51 in the front-rear direction, and the third moving unit 60 for moving the movable frame 51 in the left-right direction, the adjustment of the position of the gripping tool 54 in each direction and the adjustment of the locus of the gripping tool 54 during movement can be appropriately performed.

Further, since the forming apparatus 1 includes the supply device 30 that includes the slope 31 for supplying a billet B to the delivery position 32 where the billet B is to be delivered to the gripping tool 54, the forming apparatus 1 can cope with the continuous supply of billets B to the apparatus body 100. Accordingly, forming work can be efficiently performed.

Others

The embodiment of the present invention has been described above, but the present invention is not limited to the above-mentioned embodiment.

For example, a configuration in which the slide 18 reciprocates in the up-down direction has been exemplified in the above-mentioned embodiment, but the present invention is not limited to the press apparatus in which the slide 18 reciprocates in the up-down direction.

Further, a forging press apparatus has been exemplified as the forming apparatus in the above-mentioned embodiment, but the forming apparatus is not limited to the forging press. For example, the present invention can be applied to any forming apparatus that requires a relay device for transporting an object to be formed from a certain position to another position.

Further, the moving mechanism of the relay device 50 may be adapted to include any one or two of the first moving unit 58, the second moving unit 59, and the third moving unit 60.

Furthermore, the holding unit of the relay device 50 does not need to be adapted to grip a billet B as in the gripping tool 54. For example, a tool for hooking or sucking a billet B may be used as the holding unit.

Details described in the above-mentioned embodiment can be appropriately modified without departing from the scope of the present invention.

It should be understood that the invention is not limited to the above-described embodiment, but may be modified into various forms on the basis of the spirit of the invention. Additionally, the modifications are included in the scope of the invention. 

What is claimed is:
 1. A forming apparatus comprising: a movable frame; a first arm that is supported by the movable frame to be capable of oscillating; a second arm that is supported by the first arm to be capable of oscillating; a holding unit that is capable of holding an object to be formed supported by the second arm; a first oscillating mechanism that applies an oscillating operation to the first arm; a second oscillating mechanism that applies an oscillating operation to the second arm; and a moving mechanism that applies a moving operation to the movable frame in at least one direction.
 2. The forming apparatus according to claim 1, wherein: the holding unit is supported by the second arm to be rotatable about an axis parallel to a longitudinal direction of the second arm, and a rotating mechanism that applies a rotational operation to the holding unit is provided.
 3. The forming apparatus according to claim 2, wherein the rotating mechanism includes a gear that is provided on an outer periphery of an upper end portion of an air cylinder for grip disposed concentrically in the second arm, and a rack member that meshes with the gear.
 4. The forming apparatus according to claim 3, wherein the gear is formed concentrically with the second arm and the air cylinder for grip, and the rack member is supported at an upper end portion of the second arm to be slidable in a front-rear direction.
 5. The forming apparatus according to claim 1, wherein the movable frame is disposed above the holding unit.
 6. The forming apparatus according to claim 5, wherein the movable frame includes a support plate that is supported by the moving mechanism, and a body portion that extends downward from the support plate.
 7. The forming apparatus according to claim 6, wherein a base end portion of the first arm is supported at an extending end portion of the body portion by a first joint shaft parallel to a front-rear direction to be capable of oscillating.
 8. The forming apparatus according to claim 7, wherein the second arm is supported at an extending end portion of the first arm by a second joint shaft parallel to the front-rear direction to be capable of oscillating.
 9. The forming apparatus according to claim 1, wherein the moving mechanism includes a first moving unit that moves the movable frame in an up-down direction.
 10. The forming apparatus according to claim 1, wherein the moving mechanism includes a second moving unit that moves the movable frame in a horizontal direction.
 11. The forming apparatus according to claim 10, wherein the moving mechanism includes a third moving unit that moves the movable frame in a horizontal direction perpendicular to a moving direction of the second moving unit.
 12. The forming apparatus according to claim 1, further comprising: a supply device for an object to be formed that includes a slope for supplying the object to be formed to a delivery position where the object to be formed is to be delivered to the holding unit.
 13. The forming apparatus according to claim 1, wherein press forming is performed. 